Kinematic modeling and control of a human-robot platform for the blind and visually impaired

A robotic system is described as one that receives peripheral input, processes it, and responds accordingly. The responses of the system may vary based on its intended application i.e., obstacle avoidance, LED output, move from point A to B, map an area, etc. In this thesis, control methods pertaining to the physical interaction between a human user and a mobile robot are researched, designed and implemented in software and hardware. The robotic system in this research is a Smart Walker equipped with vision sensors, haptic feedback sensors and drive motors and allow it to move about it's environment. The target user of this system is the Elderly, Blind and Visually impaired. With these users in mind, walker functionality and control is based on their specific needs and physical limitations. This paper aims to explain the control techniques used to develop a Smart Walker that can provide confidence and independence in an affordable package.